CN106781551B - Expressway entrance and exit ring road combined control system and method under car networking environment - Google Patents
Expressway entrance and exit ring road combined control system and method under car networking environment Download PDFInfo
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- CN106781551B CN106781551B CN201710135251.4A CN201710135251A CN106781551B CN 106781551 B CN106781551 B CN 106781551B CN 201710135251 A CN201710135251 A CN 201710135251A CN 106781551 B CN106781551 B CN 106781551B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/075—Ramp control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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Abstract
The invention discloses the entrance ring road combined control system and method under a kind of car networking environment, system is made of section layer control system, ring road node layer control system and vehicle control syetem.Section layer control system ensures that ring road and near zone do not get congestion for obtaining the traffic state information in administrative section, and the clearance vehicle number of entrance ring road being adjusted.Ring road node layer control system determines that vehicle is controlled in the priority of entrance ring road joint, and to vehicle remittance process.Vehicle control syetem passes through and control system and the real time communication of other vehicles send the request of oneself and travel by control instruction.The present invention includes the relationship frame of each layer of system, the method and process of the layout stracture of ramp control system and section layer, entrance ramp metering rate.The present invention not only facilitates development and application of the vehicle network technology in terms of highway actively control, and simultaneously for being promoted, existing ring road enters and leaves efficiency and ring road remittance safety is significant.
Description
Technical field
The present invention relates to intelligent traffic administration system and control technology field more particularly to a kind of highways based on car networking
Entrance ring road combined control system and a kind of expressway ramp entrance control method for vehicle based on car networking environment.
Background technique
The entrance control technology of highway is the important component that highway actively manages technology, highway
Entrance ring road is also the high-incidence bottleneck position of highway congestion.In commuting peak period or accident period of right time, due to from
Ring road enter highway vehicle flowrate be greater than highway the traffic capacity, when often result in a certain section of traffic paralysis of highway
Paralysis.To avoid above situation, generallys use ramp control signal lamp both at home and abroad at present and ring road entrance vehicle is controlled, that is, work as
When congestion occurs in highway, ring road signal lamp becomes red light, and vehicle is forbidden to enter, to reduce the vehicle flowrate into main line.
This control method belongs to " subsequent control ", cannot be adjusted traffic flow to prevent congestion before congestion occurs, and
And due to lacking traffic guidance means, it is easy to cause longer queuing on Entrance ramp.In engineering practice, high speed exit ramp
Appearance is often matched with Entrance ramp and at a distance of relatively close.But domestic and international primary method of control, which only passes through Entrance ramp, carries out vehicle
Control, and exit ramp control research is more lacked, and exit ramp is tended to since adjacent road (bypass) is unsmooth and
Lead to vehicle plug-back, influences the operation of highway main line.Therefore when congestion occurs, only consider that the control effect of in-let dimple is more difficult
It is satisfactory.In addition, current ramp metering rate, which lacks specific vehicle, imports control strategy, making ring road interwoven region is still accident
Flash point.
With the development of wireless communication technique and the intelligent vehicles technology, car networking and bus or train route coordination technique are led in intelligent transportation
Domain is concerned, and is the current internationally recognized best means for improving traffic safety, Lifting Convey efficiency and realization energy-saving and emission-reduction.
Under car networking environment, section layer traffic information center (TOC) can be communicated by bus or train route and obtain vehicle location and to each car
Operation reserve carry out real-time instruction, global induction is carried out to main line, entrance ring road and bypass traffic flow and will to realize
Entrance ramp metering rate is integrated.Meanwhile vehicle inter-vehicle communication may insure that vehicle is travelled with minimum safe spacing, and to remittance
Process is controlled, to guarantee that remittance process safety is efficient.This is provided for the existing ramp metering rate strategy of improve and perfect
A kind of good solution.
It is therefore proposed that it is a kind of can under car networking environment rationally, the entrance ramp control system of precise controlling not only
Facilitate the development and application of car networking technology, and to the operational efficiency and level of security for promoting existing entrance ramp metering rate
It is significant.
Summary of the invention:
Goal of the invention: the purpose of the present invention is design a kind of expressway entrance and exit ring road joint based on car networking environment
Control system and method, the system integrate entrance ramp metering rate, and by entrance ramp metering rate subsystem to vehicle
From ring road import linking-up road process controlled, while by truck traffic system guarantee vehicle minimum safe between
Away to guarantee that vehicle imports the process safety, controllable, efficiently of linking-up road from ring road.
Technical solution: for achieving the above object, the technical solution adopted by the present invention is that:
A kind of expressway entrance and exit ring road combined control system under car networking environment, comprising: section layer traffic information
Center (Transportation Operation Center, TOC), section layer roadside unit (Road Side Unit, RSU)
Group, On-ramp Control subsystem, exit ramp control subsystem and vehicle-mounted control subsystem；
The section layer RSU group includes being arranged on the highway main road and bypass section connecting with entrance ring road
If trunk section RSU unit, the section RSU unit with vehicle-mounted control subsystem data for communicate, and acquires and to section
Layer TOC transmits the traffic state information in administered section；
The On-ramp Control subsystem, Entrance ramp operation is let pass in the period for being issued according to section layer TOC
Vehicle number, clearance vehicle number, ring road traffic condition and main line traffic condition, it is determined whether allow bypass vehicle to enter
Whether mouth ring road and the vehicle of Entrance ramp forefront allow to import main road；And it is administered for control instruction to be handed down to
The vehicle-mounted control subsystem of vehicle；
The exit ramp control subsystem, the period inner outlet ring road operation for being issued according to section layer TOC are let pass
Vehicle number, clearance vehicle number, ring road traffic condition and bypass traffic condition, it is determined whether allow main line vehicle to enter
Whether mouth ring road and exit ramp forefront vehicle allow access into bypass；And for control instruction to be handed down to administered vehicle
Vehicle-mounted control subsystem；
The vehicle-mounted control subsystem, for sending information of vehicles and driver's solicited message in real time to section layer RSU group,
It receives the control instruction that in/out mouth ramp metering rate subsystem is sent and vehicle is guided to travel according to instruction.
Further, the On-ramp Control subsystem includes Entrance ramp RSU, upstream main line RSU, Entrance ramp row
Team's detector and Entrance ramp node control center；
The upstream main line RSU and Entrance ramp RSU is respectively used on acquisition Entrance ramp main line upstream vehicle and ring road
The speed and location information of vehicle；
The Entrance ramp is lined up detector, for acquiring the queue length of vehicle on Entrance ramp；
Entrance ramp node control center is counted with upstream main line RSU, Entrance ramp RSU and queuing detector
According to communication, main line and ring road traffic information are obtained, it is determined whether bypass vehicle is allowed to enter Entrance ramp and Entrance ramp most
Whether the vehicle in front allows to import main road, and generates vehicle control instruction, is passed respectively by main line RSU and Entrance ramp RSU
Pass the vehicle-mounted control subsystem of main line vehicle and ring road vehicle.
Preferably, the exit ramp control subsystem includes exit ramp RSU, bypass RSU, off-ramp queue inspection
Survey device, bypass is lined up detector and exit ramp node control center；
The exit ramp RSU, for acquiring the car speed and location information that sail out of highway；
The bypass RSU, for acquiring exit ramp and bypass crosses the car speed and location information of position upstream；
The off-ramp queue detector, for acquiring the vehicle queue length on exit ramp；
The bypass is lined up detector, for acquiring the vehicle queue length of upstream bypass；
It is logical to carry out data with exit ramp RSU, bypass RSU and queuing detector for exit ramp node control center
Letter obtains bypass and ring road traffic information, it is determined whether main line vehicle is allowed to enter exit ramp and exit ramp forefront
Whether vehicle allows access into bypass, and generates vehicle control instruction, is passed to respectively by bypass RSU and exit ramp RSU auxiliary
The vehicle-mounted control subsystem of road vehicles and out ring road vehicle.
A kind of Freeway Ramp Control method under car networking environment, includes the following steps:
(101) unit is controlled the vehicle number that can be let pass in the period and passed in Entrance ramp node control by section layer TOC
The heart, Entrance ramp node control center start to reset clearance vehicle number in each period；
(102) it is according to the vehicle queue length of the clearance vehicle number and Entrance ramp determination of Entrance ramp in current period
No permission bypass vehicle enters Entrance ramp, and control instruction is passed to bypass vehicle；
(103) judge whether Entrance ramp forefront vehicle can reach ring road entrance parking line position in current period；
If can if enter (104), otherwise rejudged when next control period starts；
(104) compare Entrance ramp forefront vehicle and main line will be by the travel priority grade of ring road inlet vehicle；
(105) it if ring road vehicle has priority, is sent to Entrance ramp forefront vehicle and keeps current velocity Huo existing speed or add
Speed sends instruction of giving way by importing the instruction clicked through into main line, to main line vehicle；
(106) if main line vehicle has priority, acceptability risk is formulated for ring road vehicle and imports strategy: control centre
Whether when importing position have enough gap import main line, if so, control centre calculates and informs circle if calculating ring road vehicle and reaching
The velocity and acceleration numerical value kept needed for road vehicle；If not provided, the subsequent acceptability risk guidance of main line is found by control centre
Ring road vehicle deceleration imports, if ring road vehicle is with minimum speed arrival parking line position still no suitably remittance gap,
Stop waiting in parking line position；
(107) after ring road vehicle drives into main line, clearance vehicle number is added 1 by control centre.
Preferably, in the On-ramp Control method further include:
(108) after ring road vehicle drives into main line, before ring road vehicle and main line fore-aft vehicle are automatically adjusted by onboard system
Following distance afterwards makes vehicle be remained above small safe spacing traveling.
A kind of expressway exit ramp metering rate method under car networking environment, includes the following steps:
(201) unit is controlled the vehicle number that can be let pass in the period and passed in exit ramp node control by section layer TOC
The heart, exit ramp node control center start to reset clearance vehicle number in each period；
(202) it is according to the vehicle queue length of the clearance vehicle number and exit ramp determination of current period inner outlet ring road
No permission main line vehicle enters exit ramp, and control instruction is passed to main line vehicle；
(203) judge whether exit ramp forefront vehicle can reach stop line in current period；If can if enter
(204), it is otherwise rejudged when next control period starts；
(204) compare exit ramp forefront vehicle and bypass will be by the travel priority grade of the vehicle of joint；
(205) it if exit ramp vehicle has priority, is sent to exit ramp forefront vehicle and keeps current velocity Huo existing speed
Or acceleration enters an instruction for bypass by importing point, Xiang Fulu vehicle sends instruction of giving way；
(206) if bypass vehicle has priority, acceptability risk remittance strategy is formulated to go out ring road vehicle: in control
Whether scheming calculates ring road vehicle and reaches has enough gaps to import main line when importing position, if so, control centre calculates and accuses
Know the velocity and acceleration numerical value kept needed for ring road vehicle out；Draw if not provided, subsequent acceptability risk is found by control centre
Export ring road vehicle deceleration imports, if ring road vehicle reaches the line position that stops with minimum speed still without between suitably remittance out
When gap, stop waiting in parking line position；
(207) go out after ring road vehicle enters bypass, clearance vehicle number is added 1 by control centre.
Preferably, in the exit ramp control method further include:
(208) go out after ring road vehicle drives into bypass, ring road vehicle and bypass fore-aft vehicle pass through onboard system and automatically adjust
Front and back following distance makes vehicle be remained above small safe spacing traveling.
The utility model has the advantages that the invention proposes a kind of expressway entrance and exit ring road combined control system based on car networking,
And it realizes entrance ring road and imports control method.This method takes full advantage of traffic information center-ring road node control center-
The Information Superiority that vehicular communication equipment is mutually networked can send position and speed information in the layer traffic information of section by vehicle
The heart formulates control strategy according to the traffic state information that information of vehicles obtains section by traffic information center, then passes to each section
Point control centre, by the specific remittance process of control centre's guiding vehicle.Compared with the prior art, the present invention has the following advantages:
1) present invention is the general frame design and method to entrance ring road and Frontage road, is no longer limited to enter and leave
The point control of mouth ring road position is integrated ramp metering rate and magnitude of traffic flow induction using car networking technology, can effectively be promoted
The control efficiency of entrance ring road.
2) existing ramp metering rate method lacks the finger that process is imported to vehicle mainly for the flow control of Entrance ramp
It leads.Process provides the ring roads under a kind of environment based on car networking to import control strategy.Under car networking environment, the position of vehicle
Set, speed it is found that thus can the remittance process to vehicle accurately control, promoted ring road import safety.
3) the invention proposes the clearance method based on priority dynamic adjustment, the vehicle in the unit time can met
It lets pass on the basis of requiring, so that Entrance ramp/main line or exit ramp/adjacent bypass vehicle balance is let pass, solve ring road
Who preempts the problem of right of way during remittance.
4) existing ramp metering rate method is based on the control system and method for ring road entry position.It is proposed of the invention is filled out
The domestic blank for lacking exit ramp control system is mended.Exit ramp control strategy of the invention considers the connection of adjacent bypass
Control is closed, and is combined using car networking technology and vehicle guidance, therefore can effectively solve unsmooth, the vehicle because bypass is let pass
Highway main line congestion caused by plug-back.
Detailed description of the invention
Fig. 1 is road network topology structural schematic diagram of the invention.
Fig. 2 is system framework figure of the invention.
Fig. 3 is the road network topology structural schematic diagram of On-ramp Control subsystem of the invention.
Fig. 4 is the road network topology structural schematic diagram of exit ramp control subsystem of the invention.
Fig. 5 is that vehicle request enters ring road flow chart in in/out mouth ramp metering rate method of the invention.
Fig. 6 is that vehicle drives into adjacent road flow chart in in/out mouth ramp metering rate method of the invention.
Specific embodiment
As shown in Figure 1, 2, the expressway entrance and exit ring road connection under a kind of car networking environment disclosed by the embodiments of the present invention
Close control system, including section layer control system, three story frame structure of ring road node layer control system and vehicle control syetem.Its
In, section layer control system by section layer traffic information center (Transportation Operation Center, TOC) and
Section layer roadside unit (Road Side Unit, RSU), which is organized, to be constituted；Section layer RSU group includes that setting connects with entrance ring road
If the trunk section RSU unit on the highway main road and bypass section that connect；Ring road node layer control system includes Entrance ramp
Control subsystem and exit ramp control subsystem；Vehicle control syetem includes on main line vehicle, ring road vehicle and bypass vehicle
Vehicle-mounted control subsystem.
Section layer TOC obtains the real-time traffic states of entrance ring road from section layer roadside unit group, is lined up according to ring road
Information and ring road upstream and downstream road section traffic volume status information determine each ring road clearance strategy (i.e. unit control the period in some
Entrance ramp or the vehicle number N that can be let pass in the exit ramp period), and accordingly generate the induction information of main line and bypass vehicle
(i.e. whether some Entrance ramp or exit ramp can enter), and will let pass strategy and induction information are transferred to ring road node layer
Control system.The vehicle number that each ring road can let pass in actual motion can set reasonable number according to freeway traffic situation
Value can also guarantee the friendship of main line according to combining the magnitude of traffic flow of ring road queue length and ring road upstream and downstream to carry out dynamic adjustment
It is unobstructed logical.After the traffic state information for collecting entire section can with the traffic behavior in entire section it is optimal for target phase it is more
A ring road is controlled simultaneously, considers the clearance strategy of each ring road as a whole (as using the Ramp association based on bottleneck
With control algolithm etc.).
Section layer RSU group is the network being made of several RSU units.RSU unit is laid in needs with 1 kilometer for interval and adopts
Collect on highway, ring road section and the neighboring track section of traffic information, laying range is away from in/out mouth ramp metering rate subsystem
In 3 kilometer ranges, as shown in fig. 1.There are two the functions of RSU unit: 1) acquiring traffic state information, the vehicle in administrative section
Solicited message simultaneously sends section layer TOC to；2) control instruction is obtained from ring road node layer control system and pass to administrative area
Interior vehicle.
RSU unit can be made of minicomputer work station and communication system.Computer workstation is according to from communication system
The information of vehicles of receiving calculates the traffic state information in section, and traffic state information is passed to section layer by communication system
TOC.Communication system is used to receive the status information of vehicle transmission, vehicle solicited message, and traffic state information and vehicle are asked
Information is asked to be sent to section layer TOC.Meanwhile communication system receives the finger from section layer TOC and ring road node layer control system
It enables, and is sent to the vehicle in administrative area.The process performance of computer workstation want can less than half control the period when
The interior vehicle data being disposed in administrative area.Communication system needs to meet 5.8GHz Dedicated Short Range Communications (DSRC) skill
The duplex communication requirement in a kilometer range may be implemented in art standard, and can provide a variety of and lane computer data communication
Interface.Using channel isolation technics, more vehicle communications are not interfere with each other.
Vehicle control syetem, by within the scope of this patent control system highway main line, ring road, be equipped on bypass it is vehicle-mounted
The vehicle of control subsystem is constituted.Vehicle control system can realize following functions: 1) to section layer when each control period starts
RSU group sends vehicle real time；2) Real time request of driver is sent to section layer RSU group；3) section layer RSU group hair is received
The control instruction sent simultaneously guides vehicle to travel according to instruction；4) it with other vehicle real time communications, automatically keeps appropriate with workshop
Away from or prompt driver travel according to appropriate speed.
Vehicle-mounted control subsystem by car-mounted computer, can meet duplex communication device, the instruction execution of DSRC technology standard
Equipment is constituted.Vehicle real time data needed for the signal of vehicle sensors is converted to RSU equipment by car-mounted computer.Communication
Vehicle real time data are passed to RSU equipment by equipment.And control instruction is obtained from RSU equipment.Instruction execution equipment root
It is realized according to different technologies, GPS navigation equipment, voice prompting equipment or Vehicular automatic driving equipment can be divided into.GPS navigation equipment
The current state (position, speed) and control instruction of vehicle are labeled in navascreen, driver travels according to control instruction,
And it may know that oneself real time position.Voice prompting equipment is by voice informing driver driving instruction, and driver is according to voice
Prompt drives.It is that the autonomous cruise equipment inputted is connected with automotive power that autopilot facility, which is with control instruction, is passed through
Apply control signal operation vehicle driving to dynamical system.
The On-ramp Control subsystem responsible of ring road node layer control system realizes On-ramp Control logic, and will give birth to
At control instruction be sent to the vehicle of administration；Exit ramp control subsystem is responsible for realizing exit ramp control logic, and will
The control instruction of generation is sent to administered vehicle.Ring road node layer control system is responsible for the vehicle of each ring road of acquisition simultaneously
Queueing message, and ring road queueing message is passed into section layer TOC.
Specifically, On-ramp Control subsystem includes Entrance ramp RSU, upstream main line RSU, Entrance ramp queuing detection
Device and Entrance ramp node control center, wherein main line RSU is responsible for acquiring speed and the position of Entrance ramp main line upstream vehicle
Information simultaneously passes to Entrance ramp node control center；Entrance ramp RSU is responsible for acquiring the speed of vehicle and position letter on ring road
It ceases and passes to Entrance ramp node control center；It is lined up detector and is generally camera or detection coil, be responsible for acquisition entrance
The queue length of vehicle and Entrance ramp node control center is passed on ring road；It is responsible for basis in Entrance ramp node control center
The information of acquisition formulates vehicle drive strategy and generates vehicle control instruction, is transmitted respectively by main line RSU and Entrance ramp RSU
To main line vehicle and ring road vehicle.
Wherein, Entrance ramp RSU is laid in ring road main line inlet；Upstream main line RSU is laid in ring road main line inlet
On main line section within the scope of 100 meters to 300 meters of upstream；Loop detector layout is lined up in 2/3 circle of the position at Entrance ramp
At road length, for example, 300 meters of ring road length, the position for being lined up Loop detector layout is 200 meters of main line inlet apart from ring road.
Exit ramp control subsystem includes exit ramp RSU, bypass RSU, off-ramp queue detector, bypass queuing
Detector and exit ramp node control center.Wherein exit ramp RSU be responsible for acquisition sail out of highway car speed and
Location information simultaneously passes to exit ramp node control center；Bypass RSU equipment is responsible for acquiring exit ramp and bypass and crosses position
It sets the car speed of upstream and location information and passes to exit ramp node control center；Off-ramp queue detector is responsible for
It acquires the vehicle queue length on exit ramp and passes to exit ramp node control center；Bypass, which is lined up detector, to be responsible for adopting
Collect the vehicle queue length of upstream bypass and passes to exit ramp node control center.It is responsible at exit ramp node control center
Vehicle drive strategy is formulated according to the information of acquisition and generates vehicle control instruction, passes through bypass RSU and exit ramp RSU respectively
Pass to bypass vehicle and the out mobile unit of ring road vehicle.
Wherein, the outlet RSU implantation of device is at ramp exit, and the off-ramp queue Loop detector layout is in distance
At the ring road length of ring road and bypass intersection position 2/3.For example, 300 meters of ring road length, it is lined up the position tool of Loop detector layout
Body ring road and bypass cross at 200 meters.Bypass RSU is laid within 50 meters of ring road and bypass intersection.The queuing of bypass monitors
Device installation position need to determine that it is long to may be configured as ring road queuing vehicle under general case according to the magnitude of traffic flow and link characteristics of main line
2 times of degree.
Related data flow, instruction stream and data-instruction streaming delivery method in system:
(1) vehicle data
1) vehicle static data: vehicle ID, type of vehicle (including vehicle dimension data, vehicle maximum speed, maximum acceleration
Degree, maximum deceleration), mobile unit type；
2) vehicle dynamics data: vehicle location (longitude and latitude), car speed, vehicle acceleration；
3) driver's request data: entering highway and request, and leaves highway request；
(2) traffic state information data: road section traffic volume flow, road average-speed, road section traffic volume density；
(3) control instruction: car speed, acceleration induce path data
(4) data-instruction streaming delivery method:
1) vehicle data is sent to RSU unit by vehicle；
2) RSU unit gives section layer TOC according to the traffic state information Data Concurrent that vehicle data obtains administrative section
With ring road node layer control system；
3) section layer TOC and ring road node layer control system are according to traffic state information data generation control instruction；
4) control instruction by RSU unit is sent to vehicle by section layer TOC and ring road node layer control system, and vehicle is pressed
It is driven according to control instruction.
Below with reference to the expressway entrance and exit circle under a kind of car networking environment disclosed by the embodiments of the present invention of Fig. 3~6 pair
Road combination control method elaborates.The control method that the present invention is implemented mainly includes Freeway Ramp Control method
With two aspects of expressway exit ramp metering rate method.Wherein:
On-ramp Control method is used for On-ramp Control subsystem.By TOC according to the traffic acquired from section level
Information data calculates the vehicle number that Entrance ramp node allowed to let pass within the control period, then by Entrance ramp node according to main line
Determine that vehicle imports process, specific steps with the traffic condition of ring road are as follows:
Step 1, section layer TOC are according to Entrance ramp queueing message and Entrance ramp upstream and downstream road section traffic volume status information
It determines the clearance strategy (the vehicle number N that unit can let pass in the control period) of ring road, and passes in Entrance ramp node control
The heart (hereinafter referred to as control centre), control centre start to reset clearance vehicle number R in each period；
Step 2, section layer TOC according to Entrance ramp in current period clearance vehicle number R formulate on bypass not yet into
Enter the induction information of the vehicle A of Entrance ramp, if R < N, bypass vehicle A is allowed to enter Entrance ramp, otherwise, checks entrance
Whether the vehicle queue length L of ring road, which reaches maximum, is lined up vehicle commander's degree M.If L < M, vehicle A is allowed to enter ring road.If L > M, no
Allow vehicle A to enter ring road, and determines vehicle A front exit ring road position.Section layer TOC passes to induction information in control
The heart, and vehicle A is passed to by control centre；
Step 3 calculates whether Entrance ramp forefront vehicle B can reach stop line in current period, (based on initial speed
Degree, the peak acceleration of permission, the distance away from stop line, current period remaining time etc. are judged by calculating.Stop line
For the line apart from ring road entry position distance demarcated in advance, position is recorded in roadside device.Detection device one
As be bayonet camera (group).When vehicle passes through the line, video camera can will be passed by information such as the speed of vehicle, moment, id
Give RSU equipment), if vehicle can reach stop line in current period, go to step 4；If vehicle cannot be in current period
Stop line is reached, then is travelled by present speed, the lower period will re-start judgement；
It is as follows that the step of can vehicle B reach stop line is calculated in the step 3:
(1) the speed v of vehicle B at this time is obtained0；
(2) distance d of the vehicle B apart from stop line at this time is obtained0；
(3) according to the peak acceleration a of vehicle Bmax、v0And d0, calculate the shortest time needed for reaching parking line position
tB.Due to safety concerns, peak acceleration is set as amaxTake 2.5m/s2.When Practical Project, it can be arranged again most according to safety requirements
Big speed vmax.Calculation formula is as follows:
(4) by shortest time tBWith current period remaining time TresIt is compared, if tB≥Tres, then explanation can achieve
Stop line；Otherwise it cannot reach stop line.
Step 4, the travel priority grade for comparing ring road vehicle B and main line vehicle C, the traveling of ring road vehicle B and main line vehicle C
Priority comparative approach is as follows:
(1) calculating current period, clearance vehicle number R accounts for the ratio P1 of the vehicle number N that can let pass；
(2) it calculates current period and the ratio P2 that the time accounts for current period is already expired；
(3) if P1 < P2, ring road vehicle B have priority, otherwise main line vehicle C has priority；
Step 5, control centre formulate ring road vehicle B and main line vehicle according to priority by ring road RSU and main line RSU respectively
The driving strategy of C.If ring road vehicle B has priority, main line vehicle C formulates the strategy that gives way；If main line vehicle C
With priority, ring road vehicle B formulates the remittance strategy based on acceptability risk.Vehicle is travelled according to given driving strategy；Circle
After road vehicle B imports main line, main line vehicle C according to and the spacing of ring road vehicle B adjust itself speed, keep and leading vehicle distance
Greater than minimum spacing, the subsequent vehicle of main line vehicle C adds clearance vehicle number R according to identical Developing Tactics, control centre
1；
After ring road vehicle B imports main line in the step 5, the traveling as follows of main line vehicle C:
(1) main line vehicle C obtains the position and speed of front and back vehicle by truck traffic；
(2) when being less than safe distance with front truck or rear following distance, vehicle adjusts speed according to front and back following distance, with it is preceding
When vehicle distance is greater than safe distance, vehicle gives it the gun, otherwise Reduced Speed Now；
(3) when being respectively less than safe distance with front and back following distance, the following distance of preferential adjustment and front truck, subsequent vehicle
And so on；
(4) mobile unit of front and back vehicle calculates time and the acceleration of respective acceleration and deceleration during acceleration and deceleration, until
Until two vehicle speeds are identical, and spacing is greater than safe distance；
If vehicle A enters Entrance ramp before ring road vehicle B enters main line, then vehicle A and front truck B are remained above minimum
The distance travel or parking waiting of safe spacing.
On the other hand, expressway exit ramp metering rate method is used for exit ramp control subsystem.By section layer TOC
The vehicle number that exit ramp node allows to let pass within the control period is calculated according to from the traffic information data that section level acquires,
Determine that vehicle enters the process of bypass, specific steps according to the traffic condition of bypass and exit ramp by exit ramp node again
Are as follows:
Step 1, section layer TOC are according to the upstream and downstream traffic of off-ramp queue information and the adjoining bypass of exit ramp
Status information determines the clearance vehicle upper limit (the vehicle fleet size N that can be let pass in unit period) of exit ramp, and passes to outlet
Ring road node control center (hereinafter referred to as control centre), control centre start to reset clearance vehicle number R in each period；
Step 2, section layer TOC according to current period inner outlet ring road clearance vehicle number R formulate on main line not yet into
The induction information of the vehicle A of inlet/outlet ring road allows main line vehicle A to enter exit ramp if R < N, otherwise, checks outlet
Whether the vehicle queue length L of ring road, which reaches maximum, is lined up vehicle commander's degree M.If L < M, vehicle A is allowed to enter ring road, if L > M, no
Allow vehicle A to enter ring road, and determines vehicle A front exit ring road position.Section layer TOC passes to induction information in control
The heart, and vehicle A is passed to by control centre；
Step 3 calculates whether exit ramp forefront vehicle B can reach stop line in current period, if vehicle energy
It is enough to reach stop line in current period, go to step 4；If vehicle cannot reach stop line in current period, by present speed
Traveling, lower period re-start judgement；
It is as follows that the step of can vehicle B reach stop line is calculated in the step 3:
(3) the speed v of vehicle B at this time is obtained0；
(4) distance d of the vehicle B apart from stop line at this time is obtained0；
(3) according to the peak acceleration a of vehicle Bmax、v0And d0, calculate the shortest time needed for reaching parking line position
tB.Due to safety concerns, peak acceleration is set as amaxTake 2.5m/s2.When Practical Project, it can be arranged again most according to safety requirements
Big speed vmax.Calculation formula is as follows:
(4) by shortest time tBWith current period remaining time TresIt is compared, if tB≤Tres, then explanation can achieve
Stop line；Otherwise it cannot reach stop line.
Step 4, the travel priority grade for comparing ring road vehicle B and bypass vehicle C.The traveling of ring road vehicle B and bypass vehicle C
Priority comparative approach is as follows:
(1) if R < N and bypass vehicle queue do not reach maximum queue length in current period, the priority of vehicle B is most
It is high；
(2) if R < N but bypass vehicle queue reach maximum queue length in current period, using alternative passing strategy, i.e.,
One control period inner outlet ring road vehicle is preferential, and bypass vehicle is preferential in next cycle；
(3) as R >=N, i.e. current period bypass vehicle C priority pass.
Step 5, control centre calculate separately ring road vehicle and bypass vehicle according to priority by ring road RSU and bypass RSU
Driving strategy.If ring road vehicle has priority out, bypass vehicle formulates the strategy that gives way；If bypass vehicle has
There is priority, ring road vehicle formulates the remittance strategy based on acceptability risk out.Vehicle is travelled according to driving strategy；Ring road vehicle
After B enters bypass, bypass vehicle C according to and the spacing of vehicle B adjust itself speed, keep and leading vehicle distance be greater than it is minimum between
Away from the subsequent vehicle on bypass is according to identical Developing Tactics；
After ring road vehicle B imports bypass in the step 5, the driving procedures of bypass vehicle C are as follows:
(1) bypass vehicle C obtains the position and speed of front and back vehicle by truck traffic；
(2) when being less than safe distance with front truck or rear following distance, vehicle adjusts speed according to front and back following distance, with it is preceding
When vehicle distance is greater than safe distance, vehicle gives it the gun, otherwise Reduced Speed Now；
(3) when being respectively less than safe distance with front and back following distance, the following distance of preferential adjustment and front truck, subsequent vehicle
And so on；
(4) mobile unit of front and back vehicle calculates time and the acceleration of respective acceleration and deceleration during acceleration and deceleration, until
Until two vehicle speeds are identical, and spacing is greater than safe distance；
If vehicle A enters exit ramp before ring road vehicle B enters bypass, then vehicle A and front truck B are remained above minimum
The distance travel or parking waiting of safe spacing.
The driving that forefront vehicle imports on control ring road in above-mentioned in/out mouth ramp metering rate method is described in detail below
Strategy.Following method is the implementation method under a kind of ideal scenario, when specific remittance is implemented, the calculating of variable described in method
Method can adjust according to the actual situation.
Step 1, in/out mouth ring road node control center obtain the information at associated vehicle current time, and associated vehicle includes
Entrance ring road forefront vehicle B and entrance ring road institute linking-up road (serve as theme for Entrance ramp, for exporting circle
Road is bypass) upstream is near the vehicle C of conflict point, and wherein the speed of vehicle B is v0, the distance apart from stop line is d0, vehicle
The speed of C is v1, the distance apart from conflict point is d1；
If step 2, vehicle B can not reach stop line in current period, that is, reach the shortest time t of stop lineBGreater than working as
The remaining time T in preceding periodres, then vehicle B, C continues to travel according to present speed, when starting to next control period again
Judgement；
If step 3, vehicle B can reach stop line in current period, that is, reach the shortest time t of stop lineBIt is not more than
The remaining time T of current periodres, calculate the time t ' that vehicle B is decelerated to needed for stop line stopsB, calculation formula is as follows:
t′B=2d/v0
Compare t 'BWith TresSize, if t 'B≤Tres, then it is t that vehicle B, which reaches the time range of stop line,BTo t 'BIf
t′B> Tres, then it is t that vehicle B, which reaches the time range of stop line,BTo Tres, i.e. time range can be expressed as [tB,t″B],t″B
=min (t 'B, Tres)；
If step 3-1, vehicle B has priority, formulates ring road vehicle B and reach the time of stop line to can reach time model
Enclose [tB,t″B] midpoint, i.e. arrival time are as follows:
Vehicle B is travelled with even speed change, and acceleration calculation is as follows:
Calculate the time that vehicle C reaches conflict point with present speed:
Set t0For minimum safe time headway, ifThen vehicle C is travelled by present speed, ifThen set vehicle C reach conflict point time asThe even Reduced Speed Now of vehicle C, acceleration
It calculates as follows:
If step 3-2, vehicle C has priority, vehicle is travelled according to present speed on ring road linking-up road, obtains vehicle
The speed v of C at this time1With the distance d apart from conflict point1, obtain the speed v of vehicle C rear car vehicle D at this time2With apart from conflict point
Distance d2, then the time of vehicle C and vehicle D arrival conflict point is respectively as follows:
tC=d1/v1, tD=d2/v2
Set t0For minimum safe time headway, judge that vehicle B reaches [t in the time range of stop lineB,t″B] whether deposit
At time pointMeetBelong to [0, tc], it is set if meetingFor vehicle B reach stop line when
Between, vehicle B is travelled with even speed change, and acceleration calculation is as follows:
Meet condition if it does not existThen continue successively to search the interval on linking-up road backward in this way, the such as the 2nd
[t is divided between aC,tD], judge whether there is the condition of satisfactionIf it exists then withThe time for reaching stop line, which formulates, drives plan
Slightly；
For n-th of the interval [t searchedn,tn+1], if t "B< tn, then ring road vehicle B can not find suitable interval,
It is waited for parking with even Reduced Speed Now to stop line, acceleration calculation is as follows:
At any time, the velocity amplitude of vehicle presses formula v0+ at is calculated, and acceleration value solves according to the above method.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvements and modifications being expected can also be made, these improvement
It also should be regarded as protection scope of the present invention with retouching.
Claims (9)
1. the expressway entrance and exit ring road combined control system under a kind of car networking environment characterized by comprising section layer
Traffic information center TOC, section layer roadside unit RSU group, On-ramp Control subsystem, exit ramp control subsystem and
Vehicle-mounted control subsystem；
The section layer roadside unit RSU group includes that the highway main road connecting with entrance ring road and bypass section is arranged in
Trunk section layer roadside unit RSU on if, the section layer roadside unit RSU for being communicated with vehicle-mounted control subsystem data,
And acquire and transmit to section layer traffic information center TOC the traffic state information in administered section；
The On-ramp Control subsystem, Entrance ramp in the period for being issued according to section layer traffic information center TOC
Run the vehicle number let pass, clearance vehicle number, ring road traffic condition and main line traffic condition, it is determined whether allow bypass vehicle
Whether the vehicle for entering Entrance ramp and Entrance ramp forefront allows to import main road；And for control instruction to be issued
To the vehicle-mounted control subsystem of administered vehicle；
The exit ramp control subsystem, the period inner outlet ring road for being issued according to section layer traffic information center TOC
Run the vehicle number let pass, clearance vehicle number, ring road traffic condition and bypass traffic condition, it is determined whether allow main line vehicle
Enter whether exit ramp and exit ramp forefront vehicle allow access into bypass；And for control instruction to be handed down to
The vehicle-mounted control subsystem of administered vehicle；
The vehicle-mounted control subsystem, for sending information of vehicles and driver's request in real time to section layer roadside unit RSU group
Information receives the control instruction that in/out mouth ramp metering rate subsystem is sent and vehicle is guided to travel according to instruction；
The On-ramp Control subsystem includes Entrance ramp RSU, upstream main line RSU, Entrance ramp queuing detector and enters
Mouth ring road node control center；
The upstream main line RSU and Entrance ramp RSU is respectively used to vehicle on acquisition Entrance ramp main line upstream vehicle and ring road
Speed and location information；
The Entrance ramp is lined up detector, for acquiring the queue length of vehicle on Entrance ramp；
It is logical to carry out data with upstream main line RSU, Entrance ramp RSU and queuing detector for Entrance ramp node control center
Letter obtains main line and ring road traffic information, it is determined whether bypass vehicle is allowed to enter Entrance ramp and Entrance ramp forefront
Vehicle whether allow import main road, and generate vehicle control instruction, passed to respectively by main line RSU and Entrance ramp RSU
The vehicle-mounted control subsystem of main line vehicle and ring road vehicle.
2. the expressway entrance and exit ring road combined control system under a kind of car networking environment characterized by comprising section layer
Traffic information center TOC, section layer roadside unit RSU group, On-ramp Control subsystem, exit ramp control subsystem and
Vehicle-mounted control subsystem；
The section layer roadside unit RSU group includes that the highway main road connecting with entrance ring road and bypass section is arranged in
Trunk section layer roadside unit RSU on if, the section layer roadside unit RSU for being communicated with vehicle-mounted control subsystem data,
And acquire and transmit to section layer traffic information center TOC the traffic state information in administered section；
The On-ramp Control subsystem, Entrance ramp in the period for being issued according to section layer traffic information center TOC
Run the vehicle number let pass, clearance vehicle number, ring road traffic condition and main line traffic condition, it is determined whether allow bypass vehicle
Whether the vehicle for entering Entrance ramp and Entrance ramp forefront allows to import main road；And for control instruction to be issued
To the vehicle-mounted control subsystem of administered vehicle；
The exit ramp control subsystem, the period inner outlet ring road for being issued according to section layer traffic information center TOC
Run the vehicle number let pass, clearance vehicle number, ring road traffic condition and bypass traffic condition, it is determined whether allow main line vehicle
Enter whether exit ramp and exit ramp forefront vehicle allow access into bypass；And for control instruction to be handed down to
The vehicle-mounted control subsystem of administered vehicle；
The vehicle-mounted control subsystem, for sending information of vehicles and driver's request in real time to section layer roadside unit RSU group
Information receives the control instruction that in/out mouth ramp metering rate subsystem is sent and vehicle is guided to travel according to instruction；
The exit ramp control subsystem includes exit ramp RSU, bypass RSU, off-ramp queue detector, bypass queuing
Detector and exit ramp node control center；
The exit ramp RSU, for acquiring the car speed and location information that sail out of highway；
The bypass RSU, for acquiring exit ramp and bypass crosses the car speed and location information of position upstream；
The off-ramp queue detector, for acquiring the vehicle queue length on exit ramp；
The bypass is lined up detector, for acquiring the vehicle queue length of upstream bypass；
Exit ramp node control center carries out data communication with exit ramp RSU, bypass RSU and queuing detector, obtains
Take bypass and ring road traffic information, it is determined whether permission main line vehicle enters exit ramp and exit ramp forefront vehicle is
It is no to allow access into bypass, and vehicle control instruction is generated, bypass vehicle is passed to by bypass RSU and exit ramp RSU respectively
The vehicle-mounted control subsystem of ring road vehicle out.
3. a kind of Freeway Ramp Control method under car networking environment, which comprises the steps of:
(101) unit is controlled the vehicle number that can be let pass in the period and passes to Entrance ramp section by section layer traffic information center TOC
Point control centre, Entrance ramp node control center start to reset clearance vehicle number in each period；
(102) according to Entrance ramp in current period, the vehicle queue length of clearance vehicle number and Entrance ramp determines whether to permit
Perhaps bypass vehicle enters Entrance ramp, and control instruction is passed to bypass vehicle；
(103) judge whether Entrance ramp forefront vehicle can reach ring road entrance parking line position in current period；If
(104) can then be entered, otherwise be rejudged when next control period starts；
(104) compare Entrance ramp forefront vehicle and main line will be by the travel priority grade of ring road inlet vehicle；
(105) it if ring road vehicle has priority, is sent to Entrance ramp forefront vehicle and keeps current velocity Huo existing speed or accelerate logical
The instruction for importing and clicking through into main line is crossed, sends instruction of giving way to main line vehicle；
(106) if main line vehicle has priority, formulate acceptability risk for ring road vehicle and import strategy: control centre is calculated
Whether ring road vehicle reaches has enough gaps to import main line when importing position, if so, control centre calculates and informs ring road vehicle
The velocity and acceleration numerical value of holding needed for；If not provided, the subsequent acceptability risk of main line is found by control centre guides ring road
Vehicle deceleration imports, if ring road vehicle is with minimum speed arrival parking line position still no suitably remittance gap, is stopping
Fare position stops waiting；
(107) after ring road vehicle drives into main line, clearance vehicle number is added 1 by control centre.
4. the Freeway Ramp Control method under a kind of car networking environment according to claim 3, feature exist
In, further includes:
(108) after ring road vehicle drives into main line, ring road vehicle and main line fore-aft vehicle pass through onboard system automatic adjustment front and back vehicle
Spacing makes vehicle be remained above small safe spacing traveling.
5. the Freeway Ramp Control method under a kind of car networking environment according to claim 3, feature exist
In the travel priority grade comparative approach of ring road vehicle and main line vehicle in the step (104) are as follows:
Calculating current period, clearance vehicle number accounts for the ratio P1 of the vehicle number that can let pass；
It calculates current period and the ratio P2 that the time accounts for current period is already expired；
If P1 < P2, ring road vehicle has priority, and otherwise main line vehicle has priority.
6. a kind of expressway exit ramp metering rate method under car networking environment, which comprises the steps of:
(201) unit is controlled the vehicle number that can be let pass in the period and passes to exit ramp section by section layer traffic information center TOC
Point control centre, exit ramp node control center start to reset clearance vehicle number in each period；
(202) according to current period inner outlet ring road, the vehicle queue length of clearance vehicle number and exit ramp determines whether to permit
Perhaps main line vehicle enters exit ramp, and control instruction is passed to main line vehicle；
(203) judge whether exit ramp forefront vehicle can reach stop line in current period；If can if enter
(204), it is otherwise rejudged when next control period starts；
(204) compare exit ramp forefront vehicle and bypass will be by the travel priority grade of the vehicle of joint；
(205) it if exit ramp vehicle has priority, is sent to exit ramp forefront vehicle and keeps current velocity Huo existing speed or add
The fast instruction for entering bypass by importing point, Xiang Fulu vehicle send instruction of giving way；
(206) if bypass vehicle has priority, acceptability risk remittance strategy: control centre's meter is formulated to go out ring road vehicle
Whether when importing position have enough gap import main line, if so, control centre calculates and informs out if calculating ring road vehicle and reaching
The velocity and acceleration numerical value kept needed for ring road vehicle；It is guided out if not provided, subsequent acceptability risk is found by control centre
Ring road vehicle deceleration imports, if ring road vehicle reaches the line position that stops with minimum speed still without suitably importing gap out
When, stop waiting in parking line position；
(207) go out after ring road vehicle enters bypass, clearance vehicle number is added 1 by control centre.
7. the expressway exit ramp metering rate method under a kind of car networking environment according to claim 6, feature exist
In: further include:
(208) go out after ring road vehicle drives into bypass, ring road vehicle and bypass fore-aft vehicle pass through onboard system automatic adjustment front and back
Following distance makes vehicle be remained above small safe spacing traveling.
8. the expressway exit ramp metering rate method under a kind of car networking environment according to claim 6, feature exist
In: the travel priority grade comparative approach of ring road vehicle and bypass vehicle in the step (204) are as follows:
If clearance vehicle number is less than and can let pass vehicle number and bypass vehicle queue does not reach maximum length of queue in current period
Degree, then ring road vehicle priority is high；
If clearance vehicle number is less than and can let pass vehicle number but bypass vehicle queue reaches maximum queue length in current period, adopt
With alternative passing strategy, i.e., one control period inner outlet ring road vehicle is preferential, and bypass vehicle is preferential in next cycle；
When clearance vehicle number meets or exceeds and can let pass vehicle number, current period bypass vehicle priority pass.
9. the expressway entrance and exit ring road combination control method under a kind of car networking environment, which is characterized in that including according to power
Benefit require 3 described in On-ramp Control method and exit ramp control method according to claim 6.
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